Sensors and Control in the Underwater Intercept and Docking Problems

摘要

Autonomous Underwater Vehicles (AUV) have been used to accomplish a variety ofmissions, and their roles are expanding as sensors, computers and algorithms became more sophisticated. Sensors and control algorithms are of primary importance in solving a target intercept or a docking problem. Three control algorithms (pursuit guidance, proportional navigation and a linear quadratic regulator) and three target information scenarios (perfect target information, noisy range and angle measurements and noisy angle measurements) are investigate here. This thesis presents the results of a simulation study for an Anti-Torpedo Torpedo (ATT) intercept problem for three different target trajectories, three target information scenarios and three guidance algorithms. This simulation study also includes the docking of an AUV to moving platform. The proportional navigation algorithm is the most accurate for use in the ATT intercept problem, always achieving the smallest miss distances. However, it is of little use in the docking problem because it cannot control relative velocities. The linear quadratic regulator is successfully used to dock an AUV to a moving platform. (AN).